CN102368677A - Intelligent alternating current frequency conversion control system of electric actuator - Google Patents
Intelligent alternating current frequency conversion control system of electric actuator Download PDFInfo
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Abstract
The invention discloses an intelligent alternating current frequency conversion control system of an electric actuator, which comprises a hardware part and a software part and is characterized in that the hardware part adopts a modular design and comprises a microprocessor, A/D (Analog-to-Digital) and D/A (Digital-to-Analog) converters, a Chinese display circuit, an optical isolation circuit, a rectified three-phase circuit, a three-phase inverting circuit, an inversion driving circuit, a high-speed strong-current isolation circuit, a surge protection circuit, a high-frequency filter circuit, a filter circuit and an output protection circuit; all the component units take the microprocessor as the core and are connected with the microprocessor in a star-type way; the A/D and D/A converters are embedded in the microprocessor; the microprocessor is connected with the Chinese display circuit through a communication port; the microprocessor is connected with the three-phase inverting circuit sequentially through the high-speed strong-current isolation circuit and the inversion driving circuit; and the software part comprises a main program, a human-computer interface processing program, an automatic debugging program, a fault processing program, a digital-to-analog conversion and data processing program and a manual operation fault processing program.
Description
Technical field
The present invention relates to controller technology, be specially a kind of intelligent AC frequency-changing control system of electric operator, be applicable to the intelligent measure of industry production processes such as power plant, metallurgy, chemical industry, oil, building materials, light industry and water treatment and control automatically.
Background technology
At present, known electric operator mainly is made up of transducer, controller, decelerator, motor and coupling part.Electric operator is to use single phase alternating current (A.C.) servomotor, three-phase ac servo motor, three-phase dc variable-frequency motor or the three-phase alternating current variable-frequency motor servomechanism as drive unit.Electric operator accepts the signal of self tuning regulator or computer and signal that the electric operator sensor feedback is returned to compare and enlarge by the controller that connects with electric operator; Export enough big power; Make the motor rotation drive decelerator work; Till deviation of signal is less than the dead band, this moment electric operator output shaft just be stabilized in the corresponding position of input signal on.But conventional electric operator adopts analog circuit, and adjustment is provided with loaded down with trivial details, and it is not directly perceived to use charactron to show; Remember code name, particularly the drive part switching-over is slow, and precision is low; And existing frequency-variable controller adopts the DC frequency-changing technology mostly; The DC frequency-changing speed regulating control is not suitable for many exchange systems, and is applied in starting difficulty on the high-power electric actuator, incompatibility modern industry demand for control.Applicant's the problem of determining in first to file (201120212118.2) quasi-solution is the Based Intelligent Control scheme of the electric operator of 220V power supply.But this controlling schemes function is perfect inadequately, does not possess " flexible carry out " function, the technical scheme improvement of still needing.
Summary of the invention
To the deficiency of prior art, the technical problem that quasi-solution of the present invention is determined is that a kind of intelligent AC frequency-changing control system of electric operator is provided; This intelligent AC frequency-changing control system adopts the SPWM alternating frequency conversion technique; Simple in structure, be provided with easily, driving turns to fast; Control precision is high, is suitable for industrialization and uses.
The technical scheme that the present invention solve the technical problem is: design a kind of intelligent AC frequency-changing control system of electric operator, comprise hardware components and software section, it is characterized in that: described hardware components adopts modularized design; Comprise following component units: microprocessor, A/D converter, D/A converter, Chinese display circuit, optically coupled isolation circuit; Rectified three-phase circuit, three-phase inverting circuit, inverse changing driving circuit; High speed forceful electric power buffer circuit; Surge protection circuit, high-frequency filter circuit, filter circuit and output protection circuit; Each component units is a core with the microprocessor, and adopt star-like connected mode to be connected with microprocessor: A/D converter and D/A converter are inlaid in the microprocessor; Microprocessor links to each other with optically coupled isolation circuit through A/D converter; Microprocessor is connected with the DCS systematic regulator that the client uses through D/A converter; Microprocessor links to each other with Chinese display circuit through COM1; Microprocessor links to each other with three-phase inverting circuit through high speed forceful electric power buffer circuit, inverse changing driving circuit successively; External three phase mains is through behind surge protection circuit, high-frequency filter circuit and the rectified three-phase circuit; The direct voltage that obtains pulsing; Behind capacitor filtering, supply with three-phase inverting circuit; By microprocessor generation SPWM signal,, control the operation of three-phase alternating current variable-frequency motor through output protection circuit through high speed forceful electric power buffer circuit, again through the three phase sine alternating current of inverse changing driving circuit control three-phase inverting circuit generation changeable frequency;
Described software section comprises main program, man-machine interface handling procedure, automatic debugger, exception handles, digital-to-analogue conversion and data processor and manual operation exception handles.
Compared with prior art; Electric operator intelligent AC frequency-changing control system of the present invention has been selected new type microprocessor for use; Circuit such as rectified three-phase circuit and three-phase inverting circuit have been increased; And introduced the SPWM alternating frequency conversion technique, beneficial effect is: 1. adopt the AC frequency conversion control technology, be more suitable for being applied in the high-power actuator; 2. adopt the AC frequency conversion control technology, make electric operator have " the flexible startup ", " the flexible shutdown ", flexibility reaches the limit of the function that shut down the position; 3. can adjust the motor speed of service; 4. adopt digital manner of comparison, microprocessor processes speed is fast, adopt intelligent location, adaptive algorithm and electrical equipment brake function to make that the location is more accurate, makes electric operator be suitable for industrialization and uses.In addition, control system of the present invention adopts Chinese display mode, and the button input is provided with succinctly, and is easy to use, is suitable for industrialization promotion and uses.
Description of drawings
Fig. 1 forms sketch map for the overall structure of a kind of embodiment of intelligent AC frequency-changing control system of electric operator of the present invention;
Fig. 2 is provided with schematic flow sheet for the system of a kind of embodiment of intelligent AC frequency-changing control system of electric operator of the present invention;
Fig. 3 is system's operational process sketch map of a kind of embodiment of intelligent AC frequency-changing control system of electric operator of the present invention.
Embodiment
The present invention is further specified with its accompanying drawing below in conjunction with embodiment.
The intelligent AC frequency-changing control system of the electric operator of the present invention's design (being called for short control system, referring to Fig. 1-3) comprises hardware components and software section.It is characterized in that: described hardware components adopts modularized design; Comprise following component units (referring to Fig. 1): microprocessor, A/D converter, D/A converter, Chinese display circuit, optically coupled isolation circuit, three inverter circuits and rectified three-phase circuit; Surge protection circuit; High-frequency filter circuit, filter circuit, output protection circuit and high speed forceful electric power buffer circuit 1; Each component units is a core with the microprocessor, and adopt star-like connected mode to be connected with microprocessor: A/D converter and D/A converter are inlaid in the microprocessor; Microprocessor links to each other with optically coupled isolation circuit through A/D converter; Microprocessor is connected with adjuster (DCS) through D/A converter; Microprocessor links to each other with Chinese display circuit through COM1; Microprocessor links to each other with three inverters through high speed forceful electric power buffer circuit 1, inverse changing driving circuit;
Described software section comprises main program, man-machine interface handling procedure, automatic debugger, exception handles, digital-to-analogue conversion and data processor and manual operation exception handles.
Control system of the present invention is according to principle designs such as intellectuality, modularization, reliability are high, antijamming capability is strong and cost is low.The control core microprocessors adopts 32 based on arm processor STM32F103.This microprocessor is the technical grade 32-bit microprocessor of advanced person's CorteXTM-M3 structure; Have that speed is fast, function is strong and characteristics such as price is low; Its maximum operating frequency can reach 72MHz; The on-chip SRAM of 64K byte, the EEPROM EEPROM of 256 bytes, the in-chip FLASH memory of 256K byte are arranged, 8 tunnel 12 A/D, communication interface such as 2 tunnel 12 D/A and CAN, SCI, I2C, SPI.
The inner A/D converter of control system application of the present invention carries out valve, and (electric operator is example with the valve; The collection of position signalling and input control signal down together); Utilize pulse-width modulation PWM output through filtered position signalling, utilize eeprom memory to carry out communication storage settings, utilize serial communication interface SCI to carry out exchanges data through MAX485 interface chip and host computer; Make full use of the internal resource of this chip, practiced thrift cost.
The stimulus part of control system of the present invention utilizes inner 12 high-speed a/ds conversion of CorteXTM-M3 STM32F103; The analog signal of input and the analog signal of valve location feedback are quantized; Adopt the reference voltage of REF02 as A/D, its temperature drift coefficient is 3PPM/ ℃.
The segment signal output CorteXTM-M3 STM32F103 of control system of the present invention has 12 high-speed d/as of 2 passages, and each passage has independently counter.Select for use to have automatic phase control in the sheet, 16 senior counters of dead band control generate the SPWM signals, and control inverter produces the three phase sine alternating current drive motors operation of changeable frequency, utilize wherein one road PWM as analog quantity output signals; Select the control signal of I/O mouth PTB6 simultaneously as relay switching variable output.
Control system of the present invention can relate to various instrument, transducer and actuator when industry spot is used, can particularly possibly exist the forceful electric power of various danger to press signal because a variety of causes is introduced interference signal.In order to guarantee the safety of control system, guarantee the correctness and the reliability of operation of control system detection signal, control system of the present invention adopts the optically coupled circuit of prior art that input/output signal is isolated.The optically coupled isolation circuit of embodiment is a HCNR201 type optical coupling buffer circuit.
In order to accomplish the needs of industry spot Long-distance Control and networking, control system of the present invention is supported the RS485 communication modes.The level transferring chip of embodiment adopts MAX485.During real work, can carry out telecommunication, carry out the setting of operational mode with host computer, and the running status of monitoring control system.
The motor-driven of control system of the present invention adopts alternating frequency conversion technique, and external three phase mains is supplied with three-phase inverting circuit through the direct voltage that obtains pulsing behind surge protection circuit, high-frequency filter circuit and the rectified three-phase circuit behind capacitor filtering.Produce the SPWM signal by microprocessor and isolate 1 again through inverse changing driving circuit control three-phase inverting circuit through the high speed forceful electric power, the three phase sine alternating current that produces changeable frequency is through the operation of output protection circuit control three-phase alternating current variable-frequency motor.
In the actual design of control system of the present invention, the diode forward current of said HCNR631 type optical coupling high speed forceful electric power buffer circuit is 15mA, thereby can be adopted the filling current system directly to drive by the I/O mouth of STM32F10 type microprocessor.
The course of work of control system of the present invention is (referring to Fig. 1): the command signal (embodiment is 4-20mA) from control room self tuning regulator (DCS) is isolated the A/D converter that (voltage signal U1) is transferred to microprocessor (MCU) through modulate circuit 1, I/V change-over circuit and optically coupled isolation circuit, carries out the collection of command signal (digital signal X1); The valve position signal of actuator's transducer (voltage U 2) is through modulate circuit 2; Also deliver to the A/D converter of microprocessor; Carry out the collection of valve position signal (digital signal X2), microprocessor compares computing to command signal (X1) and the valve position signal (X2) that collects then.
(1) microprocessor generates the SPWM signal through the isolation 1 of high speed forceful electric power and three inverter circuits of inverse changing driving circuit starting; The three phase sine alternating current that makes it to produce changeable frequency is through the operation of output protection circuit control three-phase alternating current variable-frequency motor; The work of drive decelerator, the valve corresponding actions is stabilized on the corresponding position of and instruction signal the output shaft of actuator; Till deviation of signal is less than the dead band, accomplishes and regulate.
(2) microprocessor is simultaneously delivered to Chinese display circuit to command signal (X1) and valve position signal (X2) and is instructed the demonstration directly perceived of (given) value and valve position (aperture) value.
(3) microprocessor is given D/A converter valve position signal (X2) simultaneously, converts into through the V/I change-over circuit and returns feedback signal (embodiment is 4-20mA), is transmitted back to the self tuning regulator (DCS) in control room.
Software section according to the invention comprises subprograms such as main program, man-machine interface handling procedure and automatic debugging, troubleshooting, digital-to-analogue conversion, data processing and manual operation troubleshooting.Main program is provided with flow process and operational process like Fig. 2, shown in 3.
The The software adopted interrupt mode design of control system of the present invention comprises main program design and subprogram design.In main program, carry out system initialization, Control Parameter setting, control mode selection, position probing, pointer is followed and work such as troubleshooting, wherein,
(1) the routine processes process of " system initialization " is: after system powers on; At first carry out the initialization setting; Comprise I/O initialization, A/D initialization, EVA and SCI initialization etc.; Then from EEPROM, read the parameter value that last time, operation was set, comprise stroke initial value, final value, spacing value, Sensitirity va1ue and control mode selection marker position, and these parameters are deposited in the data register.
(2) " Control Parameter setting " routine processes process is: the actual valve position according to valve is demarcated the actual valve position that (referring to Fig. 1) sliding point B embodies valve at any time; The A point of the corresponding potentiometer in the complete shut-down position of valve; The C point of the corresponding potentiometer in the standard-sized sheet position of valve is gathered and is deposited among the EEPROM complete shut-down, standard-sized sheet position.Process control parameters: observation display screens such as spacing value, Sensitirity va1ue, brake time are used by the key control input and are set.
(3) the routine processes process of " selection control mode " is: according to the control mode sign, get into corresponding program branches, optional local remote control control or 2 kinds of controls of manual operation.Local 2 kinds of control modes can be switched by the effector as required, and switching mode is simple and reliable.Long-distance Control: standard 4～20mA current signal or switching value control.Long-range 2 kinds of control modes can be switched by the effector as required.
(4) " position probing " routine processes process is (referring to Fig. 1): the sliding point B of potentiometer embodies the actual valve position of valve at any time, in each circulation all to the sliding point B of potentiometer to the sampling location, in real time to the position probing of valve
(5) the routine processes process of " pointer is followed and troubleshooting " is: sampling location feedback signal in the circulation of each branch; With last time sampled value relatively poorer, difference is converted into umber of pulse and drives the pointer rotation, follows valve position in real time; Stop up to motor; Pointer is just indicated current location, still can keep after the power down, and direction of rotation is by the symbol decision of difference.When detecting fault-signal, system is out of service.
The design of subprogram comprises: stroke on-line proving, infrared remote control interrupt, and Chinese shows, A/D sampling, SCI communication, PWM output etc.Subprogram is a prior art.
Control system of the present invention adopts 4 multiplexing methods of key to realize control and parameter setting to system.The definition of 4 keys is respectively out ↑ (Open), close ↓ (Close), confirm E (Enter), S (Set-Run) is set.It is function key that the S key is set, and gets into setup menu by this key.The open and close key can be used for increasing and reduces current numerical value or carry out the parameter selection, in manual operation, and open and close key representative instruction up or down.The S key also is a switch key, can change current input focus, cooperates the open and close key, can realize the input of Any Digit very easily.
Control system of the present invention adopts PID to regulate on the Electric Machine Control algorithm, has avoided the generation of overshoot, vibration, and optional direct proportional control and ratio+control modes such as stepping control make control system can be suitable for dissimilar motors simultaneously.
Control system of the present invention can be judged various malfunctions in running, in case find fault, alarm indication is immediately exported a group relay switching value signal simultaneously and given the user, and cuts off motor power immediately.
The software design of control system of the present invention also has following function: as long as after adjusting limit switch, do once to adjust certainly, can adjust the valve end positions at any time, be very easy to the user.System also provides the RS485 communications protocol, and the user can pass through host computer programming Control valve, makes valve combined network communication and computer control convenient.
Control system of the present invention is except having the function of classical control system; As to existing multiple signal compatibility function, command signal inefficacy arbitration functions, position transmitter Signal Fail arbitration functions, motor overtemperature prote, mechanical position limitation and cross force moment protection and the moment reverse-rotation preventing function outside, also have the function of following uniqueness: dummy order is judged removing function, is adjusted direction of motor rotation function (phase sequence corrections), power supply open-phase protection warning function, self adaptation positioning function, electrical equipment braking (brake) function, stall judgement and processing capacity etc. automatically.Wherein,
Said dummy order judges that removing function is meant that the variation to control command compares, judges; Variation dummy order to moment is rejected, and prevents false triggering, when confirming to be the control command signal variation, carries out; Otherwise maintain the original state, improve the antijamming capability of actuator greatly.
Said automatic adjustment direction of motor rotation function (phase sequence correction) is meant that controller can discern phase sequence adjustment direction of motor rotation automatically at the stroke timing signal, and is adjusted into the direction that needs automatically, need not artificial the intervention.
Said power supply open-phase protection warning function is meant to three phase electric machine in use because the damage that the power supply phase shortage causes; Adopted electric current detecting method that the power supply phase shortage is detected; When power supply lacks a phase or two phase times; Show " power supply phase shortage ", stop motor simultaneously and rotate, ensured that motor can not damage because of the power supply phase shortage.
Said self adaptation positioning function is meant the time of adopting unique adaptive algorithm to confirm to send the motor stop signal; Improved positioning accuracy widely, overcome the variation that the factors such as variation of inertia, wearing and tearing or the load force (square) of actuator braking mechanism cause, the self adaptation positioning software all can carry out the self adaptation computing; Find out best downtime; Reduce the number of starts of motor, guarantee accurately location, greatly reduce elementary error.
Said electrical equipment braking (brake) function is meant for the excessive three-phase alternating current servomotor of inertia, can launch the electrical equipment braking function, to reduce the tracking error that motor inertia brings, improves the positioning accuracy of control system.Control system of the present invention is to adopt the direct current energy consumption braking, rely on motor to come body to consume kinetic energy and reach parking, but this can cause that motor temperature rises, and should select short as far as possible braking time when being provided with.The control system acquiescence braking time of embodiment is 1.0 seconds.
Said stall judges and is meant with processing capacity if stall or other mechanical breakdown appear in valve when causing valve to be failure to actuate, the control system small step of can automatic control motor reversing, and then promptly just transporting commentaries on classics by former direction, if stall disappears, change normal operation over to; If stall continues, then repeat counter-rotating and retreat and just changeing ahead three.After three times advance and retreat are attempted,, handle,, then turn-off motor power immediately, and send alarm signal if stall still can not disappear by normal condition if stall disappears.
Control system of the present invention said " the flexible startup " function is meant and is starting moment that controller starts (soft start) with minimum speed automatically, can guarantee to start with breakdown torque; Starting current can surpass the rated current of motor never.
Said " flexible shut down " function is meant that the error size that is in operation with command value and valve position adjusts rotating speed of motor automatically; Improve the speed of service during mistake; Near the aircraft gate time, run to the aircraft gate with minimum speed; Can effectively reduce " water hammer effect " of fluid, realize accurate fine setting and location.
Said flexibility reaches the limit of the position shutdown and is meant when approaching " standard-sized sheet " and " complete shut-down " two extreme positions, can be automatically with minimum speed operation.Assurance is reached valve the position or is closed with maximum moment and puts in place; The impact moment that can avoid causing because of inertia is to the collision of valve, and the protection valve prolongs its useful life.
The present invention does not address part and is applicable to prior art.
Claims (5)
1. the intelligent AC frequency-changing control system of an electric operator comprises hardware components and software section, it is characterized in that: described hardware components adopts modularized design, comprises following component units: microprocessor, A/D converter, D/A converter; The Chinese display circuit, optically coupled isolation circuit, rectified three-phase circuit; Three-phase inverting circuit, inverse changing driving circuit, high speed forceful electric power buffer circuit; Surge protection circuit, high-frequency filter circuit, filter circuit and output protection circuit; Each component units is a core with the microprocessor, and adopt star-like connected mode to be connected with microprocessor: A/D converter and D/A converter are inlaid in the microprocessor; Microprocessor links to each other with optically coupled isolation circuit through A/D converter; Microprocessor is connected with the DCS systematic regulator that the client uses through D/A converter; Microprocessor links to each other with Chinese display circuit through COM1; Microprocessor links to each other with three-phase inverting circuit through high speed forceful electric power buffer circuit, inverse changing driving circuit successively; External three phase mains is through behind surge protection circuit, high-frequency filter circuit and the rectified three-phase circuit; The direct voltage that obtains pulsing; Behind capacitor filtering, supply with three-phase inverting circuit; By microprocessor generation SPWM signal,, control the operation of three-phase alternating current variable-frequency motor through output protection circuit through high speed forceful electric power buffer circuit, again through the three phase sine alternating current of inverse changing driving circuit control three-phase inverting circuit generation changeable frequency;
Described software section comprises main program, man-machine interface handling procedure, automatic debugger, exception handles, digital-to-analogue conversion and data processor and manual operation exception handles.
2. according to the intelligent AC frequency-changing control system of the said electric operator of claim 1, it is characterized in that described microprocessor adopts 32 based on arm processor STM32F103.
3. according to the intelligent AC frequency-changing control system of the said electric operator of claim 1, it is characterized in that described optically coupled isolation circuit is a HCNR201 type optical coupling buffer circuit.
4. according to the intelligent AC frequency-changing control system of the said electric operator of claim 1, it is characterized in that described high speed forceful electric power buffer circuit adopts MOC3081 type optical coupling high speed forceful electric power buffer circuit.
5. according to the intelligent AC frequency-changing control system of the said electric operator of claim 1, it is characterized in that the diode forward current of described MOC3081 type optical coupling high speed forceful electric power buffer circuit is 15 mA.
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| CN102591244B (en) * | 2012-03-26 | 2014-03-12 | 中国科学院自动化研究所 | Bus-based input/output (IO) acquisition and control extending device |
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Application publication date: 20120307 |